A Hybrid Control Strategy for Robust Contact Detection and Force Regulation.
Raffaella CarloniRicardo G. SanfeliceAndrew R. TeelClaudio MelchiorriPublished in: ACC (2007)
Keyphrases
- control strategy
- force control
- control scheme
- position control
- control algorithm
- control system
- control strategies
- control method
- mathematical model
- operating conditions
- fuzzy controller
- optimal control
- contact force
- predictive control
- control law
- fuzzy neural network
- speed control
- transient response
- fuzzy logic control
- force feedback
- adaptive fuzzy
- control loop
- pi controller
- sliding mode control
- variable structure
- sliding mode
- experimental data
- real time